version: 66.11
glider: 195
mission: 8
dive: 15
start: 10 27 113 16 20 53
data:
$ID,195
$MISSION,8
$DIVE,15
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,10
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,59371
$MASS_COMP,3973.1001
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4436.6025
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3915
$C_PITCH,2550
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.200001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-50.110214
$PRESSURE_SLOPE,0.0001168043
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043948898
$SEABIRD_T_H,0.000640176
$SEABIRD_T_I,2.7039805e-05
$SEABIRD_T_J,3.3535807e-06
$SEABIRD_C_G,-9.7607336
$SEABIRD_C_H,1.1271561
$SEABIRD_C_I,-0.0014806761
$SEABIRD_C_J,0.00019408959
$GPS1,271013,161600,4712.585,-12501.029,16,1.3,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-39.6
$GPS2,271013,161954,4712.540,-12501.038,18,1.3,18,16.6
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4750.000,-12525.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.242,-0.089
$KALMAN_X,-13096913.0,1728256.4,1299965.2,-3769018.8,-6726169.0
$KALMAN_Y,4945842.0,-652517.6,-491251.6,1423323.2,2540307.2
$MHEAD_RNG_PITCHd_Wd,93.7,75502,-17.6,-10.000,-21.21,2209
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-146.6,200,2017,649,340,0.0,0.0,0,141,0.00,0.00,-120.25,0.000,16390,0.000,0.000,200,2018,3418,3417,3420,0,0,0,0,0,0,28.83,28.83,26.85
$GC,143,-0.79,-146.6,200,2018,3418,3419,3.4,-4.9,12,156,7.65,2.15,0.00,0.000,2564,0.211,0.037,2288,625,3420,3422,3419,0,0,0,0,0,0,26.19,26.48,28.83
$GC,407,-0.79,-146.6,2288,625,3424,3419,42.5,-13.2,38,417,0.00,2.12,0.00,0.000,1030,0.000,0.032,2280,2042,3421,3423,3419,0,0,0,0,0,0,28.83,26.55,28.83
$GC,727,-0.79,-146.6,2280,2042,3426,3419,83.3,-13.5,69,733,0.00,2.12,0.00,0.000,260,0.000,0.044,2269,3433,3422,3425,3420,0,0,0,0,0,0,28.83,26.56,28.83
$GC,878,-0.79,-146.6,2269,3433,3425,3419,101.6,-12.1,76,882,0.00,2.10,0.00,0.000,1030,0.000,0.026,2269,1994,3422,3425,3419,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1191,-0.79,-146.6,2269,1994,3425,3419,139.2,-11.0,92,1196,0.00,2.05,0.00,0.000,516,0.000,0.039,2269,636,3421,3424,3419,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1274,-0.79,-146.6,2269,636,3424,3419,148.9,-11.9,96,1280,0.10,2.12,0.00,0.000,3078,0.122,0.033,2293,2021,3421,3424,3419,0,0,0,0,0,0,26.47,26.64,28.83
$GC,1595,-0.79,-146.6,2293,2021,3424,3417,181.2,-9.6,107,1601,0.00,2.15,0.00,0.000,260,0.000,0.045,2285,3433,3421,3425,3417,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1782,-0.79,-146.6,2285,3434,3424,3415,200.0,-10.2,113,1787,0.00,2.10,0.00,0.000,1030,0.000,0.028,2285,2030,3419,3424,3415,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2107,-0.79,-146.6,2285,2030,3424,3412,232.6,-9.8,124,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2030,3418,3424,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,-0.79,-146.6,2285,2030,3424,3410,263.7,-10.6,134,2409,0.00,2.17,0.00,0.000,260,0.000,0.046,2275,3436,3417,3424,3410,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2527,-0.79,-146.6,2275,3436,3423,3409,276.7,-10.7,138,2533,0.00,2.08,0.00,0.000,1030,0.000,0.028,2275,2024,3415,3423,3408,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2890,-0.79,-146.6,2275,2023,3423,3407,315.2,-10.6,148,2895,0.00,2.15,0.00,0.000,260,0.000,0.047,2264,3428,3415,3423,3407,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3051,-0.79,-146.6,2264,3428,3423,3406,328.3,-10.7,150,3056,0.08,2.10,0.00,0.000,3078,0.119,0.028,2292,2027,3414,3423,3406,0,0,0,0,0,0,26.55,26.71,28.83
$GC,3370,-0.79,-146.6,2291,2026,3422,3405,362.5,-9.1,156,3375,0.00,2.15,0.00,0.000,260,0.000,0.047,2284,3430,3413,3422,3404,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3482,-0.79,-146.6,2283,3430,3422,3404,368.0,-9.2,157,3491,0.00,2.10,0.00,0.000,1030,0.000,0.029,2284,2027,3413,3422,3404,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3791,-0.79,-146.6,2283,2027,3422,3403,402.5,-9.5,163,3796,0.00,2.12,0.00,0.000,260,0.000,0.047,2273,3423,3412,3422,3403,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3867,-0.79,-146.6,2273,3423,3422,3403,408.2,-9.5,164,3871,0.00,2.08,0.00,0.000,1030,0.000,0.029,2273,2017,3412,3422,3402,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4211,-0.79,-146.6,2273,2017,3422,3400,441.7,-9.1,170,4216,0.00,2.15,0.00,0.000,260,0.000,0.047,2263,3423,3410,3422,3399,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4342,-0.79,-146.6,2262,3423,3422,3398,453.5,-9.5,172,4347,0.12,2.05,0.00,0.000,3078,0.139,0.029,2298,2022,3410,3422,3398,0,0,0,0,0,0,26.55,26.72,28.83
$GC,4685,-0.79,-146.6,2297,2022,3422,3397,483.5,-8.3,178,4687,0.00,0.00,-0.08,0.000,16390,0.000,0.000,2298,2022,3433,3445,3421,0,0,0,0,0,0,28.83,28.83,26.06
$STATE,4744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4744,begin apogee
$GC,4747,-0.23,0.0,2298,2022,3445,3421,488.5,-8.3,179,4866,0.50,0.00,112.47,0.832,10246,0.098,0.000,2475,2022,2820,2915,2725,0,0,0,0,0,0,26.56,28.83,24.46
$STATE,4867,end apogee,CONTROL_FINISHED_OK
$STATE,4867,begin climb
$GC,4868,0.79,146.6,2474,2022,2915,2725,492.2,0.0,181,4992,0.93,2.33,116.12,0.830,10756,0.056,0.043,2817,646,2221,2343,2100,0,0,0,0,0,0,25.22,24.87,24.20
$GC,5045,0.79,146.6,2816,646,2341,2099,477.8,10.0,184,5051,0.00,2.20,0.00,0.000,1030,0.000,0.034,2817,2028,2220,2341,2099,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5405,0.79,146.6,2816,2028,2340,2095,434.0,12.0,190,5411,0.00,2.20,0.00,0.000,260,0.000,0.045,2817,3429,2217,2340,2095,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5484,0.79,146.6,2816,3429,2340,2095,425.9,12.4,191,5488,0.00,2.12,0.00,0.000,1030,0.000,0.030,2827,2022,2218,2340,2096,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5820,0.79,146.6,2827,2022,2337,2096,379.0,13.0,197,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2022,2216,2337,2096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6121,0.79,146.6,2827,2022,2336,2095,339.2,13.4,202,6127,0.00,2.17,0.00,0.000,260,0.000,0.045,2827,3435,2215,2336,2095,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6167,0.79,146.6,2827,3435,2336,2096,339.2,13.4,202,6172,0.10,2.15,0.00,0.000,5126,0.138,0.030,2806,2029,2215,2336,2095,0,0,0,0,0,0,26.23,26.41,28.83
$GC,6480,0.79,146.6,2806,2029,2334,2095,293.6,12.3,208,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2029,2215,2335,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6780,0.79,146.6,2806,2029,2334,2095,258.6,11.7,218,6786,0.00,2.17,0.00,0.000,260,0.000,0.045,2806,3430,2214,2334,2095,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6840,0.79,146.6,2806,3430,2334,2095,250.9,12.3,220,6846,0.00,2.12,0.00,0.000,1030,0.000,0.030,2813,2009,2214,2334,2095,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7170,0.79,146.6,2813,2009,2334,2095,211.9,11.6,231,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2009,2214,2334,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7470,0.79,146.6,2813,2009,2334,2094,178.4,11.2,241,7476,0.00,2.20,0.00,0.000,260,0.000,0.045,2813,3432,2214,2334,2094,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7530,0.79,146.6,2813,3432,2334,2094,170.9,11.9,243,7536,0.00,2.10,0.00,0.000,1030,0.000,0.030,2824,2022,2214,2334,2094,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7851,0.79,146.6,2824,2022,2334,2094,131.7,12.4,256,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2022,2214,2334,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,0.79,146.6,2824,2022,2334,2094,95.1,12.0,271,8156,0.00,2.12,0.00,0.000,516,0.000,0.043,2834,634,2214,2334,2094,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8218,0.79,146.6,2834,634,2332,2094,88.3,11.5,274,8222,0.00,2.15,0.00,0.000,1030,0.000,0.034,2834,2028,2213,2332,2094,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8532,0.79,209.4,2834,2028,2333,2094,58.3,7.1,302,8585,0.00,2.28,45.72,0.572,8452,0.000,0.044,2834,3430,1965,2105,1826,0,0,0,0,0,0,28.83,26.06,25.48
$GC,8633,0.79,209.4,2834,3430,2105,1825,48.8,10.8,312,8643,0.15,2.12,0.00,0.000,5126,0.142,0.030,2803,2018,1964,2105,1824,0,0,0,0,0,0,26.03,26.17,28.83
$GC,8943,0.79,261.1,2803,2018,2105,1820,22.4,7.6,343,8975,0.00,2.20,25.15,0.512,8708,0.000,0.044,2810,637,1754,1898,1611,0,0,0,0,0,0,28.83,26.01,25.48
$GC,9231,0.79,352.1,2810,637,1892,1601,4.4,5.8,371,9273,0.00,2.12,36.40,0.058,9218,0.000,0.034,2810,2031,1403,1551,1256,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,9274,end climb,SURFACE_DEPTH_REACHED
$STATE,9274,begin surface coast
$FINISH,1.4,1.023848
$STATE,9278,end surface coast,CONTROL_FINISHED_OK
$STATE,9278,begin surface
$SM_CCo,9291,0.20,0.003,0,0,1393,350.04
$SM_GC,1.41,6.97,0.00,0.20,0.044,0.000,0.003,183,2031,1393,-7.29,0.17,350.04,0,0,0,0,0,0,26.25,28.83,26.44
$IRIDIUM_FIX,4657.54,-12503.16,271013,161623
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,8.90787
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,430.7,66.7
$24V_AH,24.2,3.369
$10V_AH,10.4,3.389
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.600,72.850,335.875,0.200,0.000,0.000,0.000,0.000,8.750,0.000,18.674,1098.052,6299.282,402.284,1509.847,58.241,32.212,1097.532,0.000,1465.953,0.000,57.425,0.000
$DEVICE_MAMPS,211.140,46.665,832.320,3.060,0.000,0.000,0.000,0.000,420.000,0.000,30.710,15.210,2.190,15.210,43.670,53.410,69.140,14.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,256.177,496.510,805.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,22.470,11.230,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,314532
$DATA_FILE_SIZE,27141,375
$CAP_FILE_SIZE,171393,0
$CFSIZE,2097872896,2093416448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,185658,4712.208,-12459.448,40,0.9,40,16.6